Related papers: Easy real-time collision detection
Current trends in the computer graphics community propose leveraging the massive parallel computational power of GPUs to accelerate physically based simulations. Collision detection and solving is a fundamental part of this process. It is…
The problem of faces detection in images or video streams is a classical problem of computer vision. The multiple solutions of this problem have been proposed, but the question of their optimality is still open. Many algorithms achieve a…
Obstacle avoidance is essential for ensuring the safety of autonomous vehicles. Accurate perception and motion planning are crucial to enabling vehicles to navigate complex environments while avoiding collisions. In this paper, we propose…
Modern astronomical surveys, such as the Zwicky Transient Facility (ZTF), are capable of detecting thousands of transient events per year, necessitating the use of automated and scalable data analysis techniques. Recent advances in machine…
Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…
We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and…
A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when…
Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…
We propose a real-time pedestrian detection system for the embedded Nvidia Tegra X1 GPU-CPU hybrid platform. The pipeline is composed by the following state-of-the-art algorithms: Histogram of Local Binary Patterns (LBP) and Histograms of…
System identification involving the geometry, appearance, and physical properties from video observations is a challenging task with applications in robotics and graphics. Recent approaches have relied on fully differentiable Material Point…
An $\epsilon$-approximate incidence between a point and some geometric object (line, circle, plane, sphere) occurs when the point and the object lie at distance at most $\epsilon$ from each other. Given a set of points and a set of objects,…
Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…
Artificial objects usually have very stable shape features, which are stable, persistent properties in geometry. They can provide evidence for object recognition. Shape features are more stable and more distinguishing than appearance…
Object recognition is an important problem in computer vision, having diverse applications. In this work, we construct an end-to-end scene recognition pipeline consisting of feature extraction, encoding, pooling and classification. Our…
Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…
A composite quadric model (CQM) is an object modeled by piecewise linear or quadric patches. We study the continuous detection problem of a special type of CQM objects which are commonly used in CAD/CAM, that is, the boundary surfaces of…
These notes accompany the open-source code published in GitHub which implements a GPU-based line-segment, surface-triangle intersection algorithm in CUDA. It mentions some relevant works and discusses issues specific to this implementation.…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Object detection is one of the most active areas in computer vision, which has made significant improvement in recent years. Current state-of-the-art object detection methods mostly adhere to the framework of regions with convolutional…